Projector with three-dimensional measurement device

ABSTRACT

A device and method for projecting a light pattern is provided. The device includes a processor system and a housing. A three-dimensional (3D) measurement device is operably coupled to the housing that measures a distance to a surface in an environment. A laser projector is operably coupled to the housing, the laser projector having a light source and a pair of movable mirrors, the light source positioned to emit light onto the pair of movable mirrors. Wherein the processor system is responsive to non-transitory executable computer instructions for: determining 3D coordinates of points on the surface with the 3D measurement device; selecting a pattern; causing the laser projector to emit a beam of light and moving the pair of mirrors to generate the pattern on the surface; and adjusting the pattern based at least in part on the 3D coordinates.

CROSS REFERENCE TO RELATED APPLICATIONS

This present application is a continuation of and claims the benefit ofU.S. Non-Provisional patent application Ser. No. 16/445,413 filed Jun.19, 2019, which claims the benefit of U.S. Provisional Application Ser.No. 62/702,620 filed Jul. 24, 2018, the entire disclosure of which isincorporated herein by reference.

BACKGROUND

The subject matter disclosed herein relates to use of a 3D laser scannertime-of-flight (TOF) coordinate measurement device. A 3D laser scannerof this type steers a beam of light to a non-cooperative target such asa diffusely scattering surface of an object. A distance meter in thedevice measures a distance to the object, and angular encoders measurethe angles of rotation of two axles in the device. The measured distanceand two angles enable a processor in the device to determine the 3Dcoordinates of the target.

A TOF laser scanner is a scanner in which the distance to a target pointis determined based on the speed of light in air between the scanner anda target point. Laser scanners are typically used for scanning closed oropen spaces such as interior areas of buildings, industrialinstallations and tunnels. They may be used, for example, in industrialapplications and accident reconstruction applications. A laser scanneroptically scans and measures objects in a volume around the scannerthrough the acquisition of data points representing object surfaceswithin the volume. Such data points are obtained by transmitting a beamof light onto the objects and collecting the reflected or scatteredlight to determine the distance, two-angles (i.e., an azimuth and azenith angle), and optionally a gray-scale value. This raw scan data iscollected, stored and sent to a processor or processors to generate a 3Dimage representing the scanned area or object.

Generating an image requires at least three values for each data point.These three values may include the distance and two angles, or may betransformed values, such as the x, y, z coordinates. In an embodiment,an image is also based on a fourth gray-scale value, which is a valuerelated to irradiance of scattered light returning to the scanner.

Most TOF scanners direct the beam of light within the measurement volumeby steering the light with a beam steering mechanism. The beam steeringmechanism includes a first motor that steers the beam of light about afirst axis by a first angle that is measured by a first angular encoder(or other angle transducer). The beam steering mechanism also includes asecond motor that steers the beam of light about a second axis by asecond angle that is measured by a second angular encoder (or otherangle transducer).

Many contemporary laser scanners include a camera mounted on the laserscanner for gathering camera digital images of the environment and forpresenting the camera digital images to an operator of the laserscanner. By viewing the camera images, the operator of the scanner candetermine the field of view of the measured volume and adjust settingson the laser scanner to measure over a larger or smaller region ofspace. In addition, the camera digital images may be transmitted to aprocessor to add color to the scanner image. To generate a color scannerimage, at least three positional coordinates (such as x, y, z) and threecolor values (such as red, green, blue “RGB”) are collected for eachdata point.

Accordingly, while existing 3D scanners are suitable for their intendedpurposes, what is needed is a 3D scanner having certain features ofembodiments of the present invention.

BRIEF DESCRIPTION

According to one embodiment, a device is provided. The device includes aprocessor system and a housing. A three-dimensional (3D) measurementdevice is operably coupled to the housing that measures a distance to asurface in an environment. A laser projector is operably coupled to thehousing, the laser projector having a light source and a pair of movablemirrors, the light source positioned to emit light onto the pair ofmovable mirrors. Wherein the processor system is responsive tonon-transitory executable computer instructions for: determining 3Dcoordinates of points on the surface with the 3D measurement device;selecting a pattern; causing the laser projector to emit a beam of lightand moving the pair of mirrors to generate the pattern on the surface;and adjusting the pattern based at least in part on the 3D coordinates.

According to another embodiment, a method is provided. The methodincluding emitting a plurality of first light beams from athree-dimensional (3D) measurement device and receiving the plurality offirst light beams with a sensor. determining, with a processor system,3D coordinates of points on a surface are determined, with a processorsystem, based at least in part on the emitting and receiving of theplurality of first light beams. A pattern is selected. A second lightbeam is emitted from a laser projector. The direction of the secondlight beam is changed to form the pattern on the surface. The pattern isadjusted based at least in part on the 3D coordinates.

These and other advantages and features will become more apparent fromthe following description taken in conjunction with the drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

The subject matter, which is regarded as the invention, is particularlypointed out and distinctly claimed in the claims at the conclusion ofthe specification. The foregoing and other features, and advantages ofthe invention are apparent from the following detailed description takenin conjunction with the accompanying drawings in which:

FIG. 1 is a perspective view of a laser scanner in accordance with anembodiment of the invention;

FIG. 2 is a side view of the laser scanner illustrating a method ofmeasurement according to an embodiment;

FIG. 3 is a schematic illustration of the optical, mechanical, andelectrical components of the laser scanner according to an embodiment;

FIG. 4 illustrates a schematic illustration of the laser scanner of FIG.1 according to an embodiment;

FIG. 5 illustrates a schematic illustration of a laser projector for usewith the laser scanner of FIG. 1;

FIG. 6 illustrates a schematic illustration of a two-dimensional (2D)microelectromechanical system (MEMS) that includes a mirror;

FIG. 7 illustrates a schematic illustration of a laser scanner with alaser projector mounted to the housing in accordance with an embodiment;and

FIG. 8 illustrates a flow diagram of the operation of the laser scannerof FIG. 1.

The detailed description explains embodiments of the invention, togetherwith advantages and features, by way of example with reference to thedrawings.

DETAILED DESCRIPTION

The present invention relates to a 3D measuring device having a 3Dscanner and a laser projection system. Embodiments of the inventionprovide advantages acquiring three-dimensional (3D) coordinates of anarea of the environment and using these 3D coordinates to emit a lightpattern on the area with the laser projector based at least in part onthe 3D coordinates.

Referring now to FIGS. 1-3, a laser scanner 20 is shown for opticallyscanning and measuring the environment surrounding the laser scanner 20.It should be appreciated that while embodiments herein refer to themeasurement device as a laser scanner, this is for exemplary purposesand the projection system and method described herein may be used withany 3D coordinate measurement system, such as but not limited to atriangulation scanner, an area scanner, a structured light scanner and alaser tracker for example. The laser scanner 20 has a measuring head 22and a base 24. The measuring head 22 is mounted on the base 24 such thatthe laser scanner 20 may be rotated about a vertical axis 23. In oneembodiment, the measuring head 22 includes a gimbal point 27 that is acenter of rotation about the vertical axis 23 and a horizontal axis 25.The measuring head 22 has a beam steering unit, such as a rotary mirror26, which may be rotated about the horizontal axis 25. The rotationabout the vertical axis may be about the center of the base 24. Theterms vertical axis and horizontal axis refer to the scanner in itsnormal upright position. It is possible to operate a 3D coordinatemeasurement device on its side or upside down, and so to avoidconfusion, the terms azimuth axis and zenith axis may be substituted forthe terms vertical axis and horizontal axis, respectively. The term panaxis or standing axis may also be used as an alternative to verticalaxis.

The measuring head 22 is further provided with an electromagneticradiation emitter or light source, such as light emitter 28, forexample, that emits a light beam 30. In one embodiment, the emittedlight beam 30 is a coherent light beam such as a laser beam. The laserbeam may have a wavelength range of approximately 300 to 1600nanometers, for example 790 nanometers, 905 nanometers, 1550 nm, or lessthan 400 nanometers. It should be appreciated that other electromagneticradiation beams having greater or smaller wavelengths may also be used.The emitted light beam 30 is amplitude or intensity modulated, forexample, with a sinusoidal waveform or with a rectangular waveform. Theemitted light beam 30 is emitted by the light emitter 28 onto a beamsteering unit, such as rotary mirror 26, where it is deflected to theenvironment. A reflected light beam 32 is reflected from the environmentby an object 34. The reflected or scattered light is intercepted by therotary mirror 26 and directed into a light receiver 36. The directionsof the emitted light beam 30 and the reflected light beam 32 result fromthe angular positions of the rotary mirror 26 and the measuring head 22about the axes 25 and 23, respectively. These angular positions in turndepend on the corresponding rotary drives or motors.

Coupled to the light emitter 28 and the light receiver 36 is acontroller 38. The controller 38 determines, for a multitude ofmeasuring points X, a corresponding number of distances d between thelaser scanner 20 and the points X on object 34. The distance to aparticular point X is determined based at least in part on the speed oflight in air through which electromagnetic radiation propagates from thedevice to the object point X. In one embodiment the phase shift ofmodulation in light emitted by the laser scanner 20 and the point X isdetermined and evaluated to obtain a measured distance d. It should beappreciated that while embodiments herein refer to the measurementdevice as a laser scanner, this is for exemplary purposes and theprojection system and method described herein may be used with any 3Dcoordinate measurement system, such as but not limited to atriangulation scanner, an area scanner, a structured light scanner and alaser tracker for example.

The speed of light in air depends on the properties of the air such asthe air temperature, barometric pressure, relative humidity, andconcentration of carbon dioxide. Such air properties influence the indexof refraction n of the air. The speed of light in air is equal to thespeed of light in vacuum c divided by the index of refraction. In otherwords, c_(air)=c/n. A laser scanner of the type discussed herein isbased on the time-of-flight (TOF) of the light in the air (theround-trip time for the light to travel from the device to the objectand back to the device). Examples of TOF scanners include scanners thatmeasure round trip time using the time interval between emitted andreturning pulses (pulsed TOF scanners), scanners that modulate lightsinusoidally and measure phase shift of the returning light (phase-basedscanners), as well as many other types. A method of measuring distancebased on the time-of-flight of light depends on the speed of light inair and is therefore easily distinguished from methods of measuringdistance based on triangulation. Triangulation-based methods involveprojecting light from a light source along a particular direction andthen intercepting the light on a camera pixel along a particulardirection. By knowing the distance between the camera and the projectorand by matching a projected angle with a received angle, the method oftriangulation enables the distance to the object to be determined basedon one known length and two known angles of a triangle. The method oftriangulation, therefore, does not directly depend on the speed of lightin air.

In one mode of operation, the scanning of the volume around the laserscanner 20 takes place by rotating the rotary mirror 26 relativelyquickly about axis 25 while rotating the measuring head 22 relativelyslowly about axis 23, thereby moving the assembly in a spiral pattern.In an exemplary embodiment, the rotary mirror rotates at a maximum speedof 5820 revolutions per minute. For such a scan, the gimbal point 27defines the origin of the local stationary reference system. The base 24rests in this local stationary reference system.

In addition to measuring a distance d from the gimbal point 27 to anobject point X, the scanner 20 may also collect gray-scale informationrelated to the received optical power (equivalent to the term“brightness.”) The gray-scale value may be determined at least in part,for example, by integration of the bandpass-filtered and amplifiedsignal in the light receiver 36 over a measuring period attributed tothe object point X.

The measuring head 22 may include a display device 40 integrated intothe laser scanner 20. The display device 40 may include a graphicaltouch screen 41, as shown in FIG. 1, which allows the operator to setthe parameters or initiate the operation of the laser scanner 20. Forexample, the graphical touch screen 41 may have a user interface thatallows the operator to provide measurement instructions to the device,and the screen may also display measurement results.

The laser scanner 20 includes a carrying structure 42 that provides aframe for the measuring head 22 and a platform for attaching thecomponents of the laser scanner 20. In one embodiment, the carryingstructure 42 is made from a metal such as aluminum. The carryingstructure 42 includes a traverse member 44 having a pair of walls 46, 48on opposing ends. The walls 46, 48 are parallel to each other and extendin a direction opposite the base 24. Shells 50, 52 are coupled to thewalls 46, 48 and cover the components of the laser scanner 20. In theexemplary embodiment, the shells 50, 52 are made from a plasticmaterial, such as polycarbonate or polyethylene for example. The shells50, 52 cooperate with the walls 46, 48 to form a housing for the laserscanner 20.

On an end of the shells 50, 52 opposite the walls 46, 48 a pair of yokes54, 56 are arranged to partially cover the respective shells 50, 52. Inthe exemplary embodiment, the yokes 54, 56 are made from a suitablydurable material, such as aluminum for example, that assists inprotecting the shells 50, 52 during transport and operation. The yokes54, 56 each includes a first arm portion 58 that is coupled, such aswith a fastener for example, to the traverse member 44 adjacent the base24. The first arm portion 58 for each yoke 54, 56 extends from thetraverse member 44 obliquely to an outer corner of the respective shell50, 52. From the outer corner of the shell, the yokes 54, 56 extendalong the side edge of the shell to an opposite outer corner of theshell. Each yoke 54, 56 further includes a second arm portion thatextends obliquely to the walls 46, 48. It should be appreciated that theyokes 54, 56 may be coupled to the carrying structure 42, the walls 46,48 and the shells 50, 52 at multiple locations.

The pair of yokes 54, 56 cooperate to circumscribe a convex space withinwhich the two shells 50, 52 are arranged. In the exemplary embodiment,the yokes 54, 56 cooperate to cover all of the outer edges of the shells50, 52, while the top and bottom arm portions project over at least aportion of the top and bottom edges of the shells 50, 52. This providesadvantages in protecting the shells 50, 52 and the measuring head 22from damage during transportation and operation. In other embodiments,the yokes 54, 56 may include additional features, such as handles tofacilitate the carrying of the laser scanner 20 or attachment points foraccessories for example.

On top of the traverse member 44, a prism 60 is provided. The prismextends parallel to the walls 46, 48. In the exemplary embodiment, theprism 60 is integrally formed as part of the carrying structure 42. Inother embodiments, the prism 60 is a separate component that is coupledto the traverse member 44. When the rotary mirror 26 rotates, duringeach rotation the rotary mirror 26 directs the emitted light beam 30onto the traverse member 44 and the prism 60. Due to non-linearities inthe electronic components, for example in the light receiver 36, themeasured distances d may depend on signal strength, which may bemeasured in optical power entering the scanner or optical power enteringoptical detectors within the light receiver 36, for example. In anembodiment, a distance correction is stored in the scanner as a function(possibly a nonlinear function) of distance to a measured point andoptical power (generally unscaled quantity of light power sometimesreferred to as “brightness”) returned from the measured point and sentto an optical detector in the light receiver 36. Since the prism 60 isat a known distance from the gimbal point 27, the measured optical powerlevel of light reflected by the prism 60 may be used to correct distancemeasurements for other measured points, thereby allowing forcompensation to correct for the effects of environmental variables suchas temperature. In the exemplary embodiment, the resulting correction ofdistance is performed by the controller 38.

In an embodiment, the base 24 is coupled to a swivel assembly (notshown) such as that described in commonly owned U.S. Pat. No. 8,705,012(′012), which is incorporated by reference herein. The swivel assemblyis housed within the carrying structure 42 and includes a motor 138 thatis configured to rotate the measuring head 22 about the axis 23. In anembodiment, the angular/rotational position of the measuring head 22about the axis 23 is measured by angular encoder 134.

As described in more detail herein, in an embodiment a laser projectorsystem 66 is coupled to the measuring head 22. The laser projectorsystem 66 includes a light source 67 and a beam steering unit 69. In theillustrated embodiment, the light source 67 is a laser light source(e.g. coherent light) or a light emitting diode (LED). In theillustrated embodiment, the beam steering unit 69 includes a mirrorsystem containing one or more rotatable mirrors to change the directionof the light emitted by the light source 67. The laser projector system66 is configured to rapidly change the direction of the light emitted bythe light source 67 using the beam steering unit 69. By rapidly andrepeatedly moving or tracing the emitted light over an area in the shapeof a pattern, an image in the shape of the pattern may be created on thesurface where the light is projected. It should be appreciated that the3D coordinates of a surface may be used to modify the direction of theemitted light, i.e. to adapt the shape, size or scale of the generatedlight pattern to the projection surface. From this the present laserscanner 20 allows for the emitting of a light pattern that is sized tobe appropriate for the image that is desired to be generated. Thus, thelaser scanner 20 may be placed in an ad-hoc manner within theenvironment and the light pattern will be shaped and scaled to generatethe desired pattern of light automatically.

In an embodiment, a central color camera (first image acquisitiondevice) 112 is located internally to the scanner and may have the sameoptical axis as the 3D scanner device. In this embodiment, the firstimage acquisition device 112 is integrated into the measuring head 22and arranged to acquire images along the same optical pathway as emittedlight beam 30 and reflected light beam 32. In this embodiment, the lightfrom the light emitter 28 reflects off a fixed mirror 116 and travels todichroic beam-splitter 118 that reflects the light 117 from the lightemitter 28 onto the rotary mirror 26. In an embodiment, the rotarymirror 26 is rotated by a motor 136 and the angular/rotational positionof the mirror is measured by angular encoder 134. The dichroicbeam-splitter 118 allows light to pass through at wavelengths differentthan the wavelength of light 117. For example, the light emitter 28 maybe a near infrared laser light (for example, light at wavelengths of 780nm, 950 nm or 1550 nm), with the dichroic beam-splitter 118 configuredto reflect the infrared laser light while allowing visible light (e.g.,wavelengths of 400 to 700 nm) to transmit through. In other embodiments,the determination of whether the light passes through the dichroicbeam-splitter 118 or is reflected depends on the polarization of thelight. The digital camera 112 obtains 2D images of the scanned area tocapture color data to add to the scanned image. In the case of abuilt-in color camera having an optical axis coincident with that of the3D scanning device, the direction of the camera view may be easilyobtained by simply adjusting the steering mechanisms of the scanner—forexample, by adjusting the azimuth angle about the axis 23 and bysteering the rotary mirror 26 about the axis 25.

Referring now to FIG. 4 with continuing reference to FIGS. 1-3, elementsare shown of the laser scanner 20. Controller 120 is a suitableelectronic device capable of accepting data and instructions, executingthe instructions to process the data, and presenting the results. Thecontroller 120 includes one or more processing elements 122. Theprocessors may be microprocessors, field programmable gate arrays(FPGAs), digital signal processors (DSPs), and generally any devicecapable of performing computing functions. The one or more processors122 have access to memory 124 for storing information.

Controller 120 is capable of converting the analog voltage or currentlevel provided by light receiver 36 into a digital signal to determine adistance from the laser scanner 20 to an object in the environment.Controller 120 uses the digital signals that act as input to variousprocesses for controlling the laser scanner 20. The digital signalsrepresent one or more laser scanner 20 data including but not limited todistance to an object, images of the environment, images acquired bycamera 112, the pattern of light 171 (FIG. 7), angular/rotationalmeasurements by a first or azimuth encoder 132, and angular/rotationalmeasurements by a second axis or zenith encoder 134.

In general, controller 120 accepts data from encoders 132, 134, lightreceiver 36, light emitter 28, and camera 112 and is given certaininstructions for the purpose of generating a 3D point cloud of a scannedenvironment. Controller 120 provides operating signals to the lightemitter 28, light receiver 36, camera 112, zenith motor 136 and azimuthmotor 138. The controller 120 compares the operational parameters topredetermined variances and if the predetermined variance is exceeded,generates a signal that alerts an operator to a condition. The datareceived by the controller 120 may be displayed on a display device 40coupled to controller 120. The user interface 140 may be one or moreLEDs (light-emitting diodes) 82, an LCD (liquid-crystal diode) display,a CRT (cathode ray tube) display, a touch-screen display or the like. Akeypad may also be coupled to the user interface for providing datainput to controller 120. In one embodiment, the user interface isarranged or executed on a mobile computing device that is coupled forcommunication, such as via a wired or wireless communications medium(e.g. Ethernet, serial, USB, Bluetooth™ or WiFi) for example, to thelaser scanner 20.

The controller 120 may also be coupled to external computer networkssuch as a local area network (LAN) and the Internet. A LAN interconnectsone or more remote computers, which are configured to communicate withcontroller 120 using a well-known computer communications protocol suchas TCP/IP (Transmission Control Protocol/Internet({circumflex over ( )})Protocol), RS-232, ModBus, and the like. Additional laser scanners 20may also be connected to LAN with the controllers 120 in each of theselaser scanners 20 being configured to send and receive data to and fromremote computers and other laser scanners 20. The LAN may be connectedto the Internet. This connection allows controller 120 to communicatewith one or more remote computers connected to the Internet.

The processors 122 are coupled to memory 124. The memory 124 may includerandom access memory (RAM) device 140, a non-volatile memory (NVM)device 142, and a read-only memory (ROM) device 144. In addition, theprocessors 122 may be connected to one or more input/output (I/O)controllers 146 and a communications circuit 148. In an embodiment, thecommunications circuit 148 provides an interface that allows wireless orwired communication with one or more external devices or networks, suchas the LAN discussed above.

Controller 120 includes operation control methods embodied inapplication code shown in FIG. 8. These methods are embodied in computerinstructions written to be executed by processors 122, typically in theform of software. The software can be encoded in any language,including, but not limited to, assembly language, VHDL (Verilog HardwareDescription Language), VHSIC HDL (Very High Speed IC HardwareDescription Language), Fortran (formula translation), C, C++, C#,Objective-C, Visual C++, Java, ALGOL (algorithmic language), BASIC(beginners all-purpose symbolic instruction code), visual BASIC,ActiveX, HTML (HyperText Markup Language), Python, Ruby and anycombination or derivative of at least one of the foregoing.

Referring now to FIG. 5, an embodiment is shown of the laser projectorsystem 66. The laser projector system 66 includes a light source 150,such as a laser light source for example. In an embodiment, the lightsource 150 is mounted to a support structure 154. The light sourceprojects the light 151 onto a first mirror 162.

In the embodiment of FIG. 5, the mirror 162 is coupled to a suitablemechanism 164 that is configured to rotate the mirror 162 about twoorthogonal axes. In an embodiment, the mirror 162 and mechanism 164 area microelectromechanical system (MEMS) 168 as shown in FIG. 6 (sometimesreferred to as a micro-opto-electromechanical system, or MOEMS). In thisembodiment, the MEMS system 168 includes actuators 170, 172 that rotatethe mirror 174 about a pair of orthogonal axis 176, 178. The actuators170, 172 may be electrostatic, electromagnetic, thermoelectric, orpiezo-electric actuators for example. In an embodiment, the MEMS system168 is a model S13124-02H 2D Linear Mirror manufactured by HamamatsuPhotonics K.K. of Shizuoka Pref., Japan. It should be appreciated thatthe use of MEMS mirrors is noted for exemplary purposes and the claimsshould not be so limited. In other embodiments, mirrors inclinable bydifferent mechanisms are used, e. g. mirror galvanometers. It should beappreciated that while the illustrated embodiment describes mirrorgalvanometers, this is for exemplary purposes and the claims should notbe so limited. In other embodiments, other types of mechanisms formoving the mirrors may be used.

The mirror 162 reflects the light 166 (e.g. laser light) onto anotherrotary mirror 167. In an embodiment, the rotary mirror 167 is mounted ona rotary mount 169, such that the vertical beam direction may bechanged. The rotary mirror 167 reflects the light or laser beam 171 intothe environment where it strikes the surface on which the light patternis to be projected. By rotating the laser scanner 20 around its panoramaaxis 23, the laser beam 171 may be rotated in the horizontal direction(when the scanner 20 is oriented in the position show in FIG. 2). Itshould be appreciated that, by changing the rotating angle of rotarymirror 167, and changing the laser scanner 20 rotating angle about theaxis 23, the laser pattern, defined by the fast-movable mirror 162, maybe directed over a wide field of view.

In an embodiment, the laser projection system 66 is removably coupled tothe measuring head 22. In an embodiment, the measuring head 22 includesa port 180 (FIG. 1) that is electrically coupled to the controller 120,such as via the I/O controller 146 for example. The port 180 may furtherprovide electrical power for operating the laser projection system 66.In this embodiment, the laser projector system 66 is coupled to thecontroller 120 via the port 180. In an embodiment, the controller 120includes control methods that transmit signals to the rotary mount 169and the mechanism 164 to rapidly change the direction of the outputlight or laser beam 171.

It should be appreciated that while the illustrated embodiment showsboth mirrors 162, 167 as being movable, this is for exemplary purposesand the claims should not be so limited. In other embodiments, one ofthe mirrors 162, 167 may be stationary. Further, in some embodiments,the rotary mirror 167 may be eliminated when the mirror 162 hassufficient angular range. Moreover, in another embodiment, the mirror162, which is shown as rotatable along two axes, may be replaced by twomirrors that are rotatable along one axis each.

Referring now to FIG. 7 and FIG. 8 a method 200 is shown for operatingthe laser scanner 20 of FIG. 1. The method 200 starts in block 202 wherethe environment is scanned using the laser scanner 20 in the mannerdescribed herein. The scan of the environment will include one or moresurfaces 204 that the user desires to project a light pattern. Themethod 200 proceeds to block 206 where the 3D coordinates of acollection of points (sometimes referred to as a “point cloud”) in theenvironment are determined. It should be appreciated that the collectionof points will include points on the surface 204.

With the 3D coordinates determined, the position of the laser scanner20, and hence the position and pose of the laser projector system 66,relative to the surface 204 is known after performing a systemcalibration. The method 200 then proceeds to block 208 where the userselects a pattern that is to be projected onto the surface 204. Thepattern may be an outline of a door 210 for example. The scaling of thepattern of light will be based at least in part on the 3D coordinates ofthe points on surface 204. Since the size of the light pattern on thesurface 204 will change based on the position of the laser scanner 20relative to the surface 204, the method 200 then proceeds to scale thepattern of light 171 in block 212 so that the image created by rapidlytracing the light 166 generates an image of the desired size (e.g. thesize of the doorway). In an embodiment, the pattern of light may also bechanged to accommodate the pose of the laser scanner 20 (e.g. the angleupon which the light 166 is projected).

The method 200 then proceeds to block 214 where the laser scanner 20rotates about the axis 23 and the rotary mirror 26 about the axis 25 sothe portion of the surface 204 that the pattern of light 171 will beprojected is within the field of view of both the laser projector system66 and the camera 212. With the laser scanner 20 in the desiredorientation, the laser projector system 66 projects light 166 in block216 onto surface 204. It should be appreciated that by rapidly andrepeatedly changing the direction of the light 166, an image of thepattern of light 171 will be generated on the surface 204. In anembodiment, the light 166 traces over the pattern of light 171 at a rateof 5-100 times per second.

The method 200 then proceeds to block 218 where an optional step ofrecording an image of the pattern of light 171 is performed with thecamera 112. In an embodiment, the camera 112 is used to activelycompensate the projected positions for positioning errors. The laserscanner 20 provides calibration data between pixel positions as capturedby the camera 112 (e.g. captures of the projected pattern) and the 3Dpositions as recorded by a laser scan, which is referred to herein as a“calibration link”. In an embodiment, the user defines 3D positionswhere a projection shall be drawn. By using the calibration link betweenlaser scanner 20 3D data and camera 112 data it can be determined, ifthe projected image corresponds with the user defined 3D positions. Asdiscussed in more detail below, to reach agreement between projectionand acquired 3D data a compensation loop for projection errors may beused. It should be appreciated that this compensation loop is optional.In some embodiments, a single calibration may be performed when thesystem is manufactured.

The method 200 then proceeds to query block 219 where the position ofthe image is compared to a desired position using the image acquired bythe camera 112 and the 3D scan data. When the query block 219 returns anindication that the position of the image is not valid, then the method200 proceeds to block 220 where the pattern of light 171 may be adjustedbased on the recorded image. It should be appreciated that an adjustmentmay be necessary, due to a varying position of the removable laserprojection device, or due thermal, mechanical or electrical influenceson the actual versus the recent compensated laser pointing direction. Inan embodiment, the pattern may be provided by CAD-data, superimposed tothe collection of points (e.g. the point cloud). In another embodiment,the pattern may be drawn directly into the recorded point cloud, andthen be transferred to the projection device. Once the image isadjusted, the method 200 then loops back to block 216 and the processcontinues until the image is in the desired location.

When the query block 219 returns an indication that the projected imageis in the desired location, the method 200 proceeds to block 222 wherethe image continues to be projected without adjustment.

Technical effects and benefits of embodiments include the projection oflight from a laser projector and the generating of images on surface inan environment based on 3D coordinates measured by a laser scanner.

Terms such as processor, controller, computer, DSP, FPGA are understoodin this document to mean a computing device that may be located withinan instrument, distributed in multiple elements throughout aninstrument, or placed external to an instrument.

While the invention has been described in detail in connection with onlya limited number of embodiments, it should be readily understood thatthe invention is not limited to such disclosed embodiments. Rather, theinvention can be modified to incorporate any number of variations,alterations, substitutions or equivalent arrangements not heretoforedescribed, but which are commensurate with the spirit and scope of theinvention. Additionally, while various embodiments of the invention havebeen described, it is to be understood that aspects of the invention mayinclude only some of the described embodiments. Accordingly, theinvention is not to be seen as limited by the foregoing description, butis only limited by the scope of the appended claims.

What is claimed is:
 1. A device comprising: a processor system; ahousing; a three-dimensional (3D) measurement device operably coupled tothe housing that measures a distance to a surface in an environment; alaser projector operably coupled to the housing, the laser projectorhaving a light source and a pair of movable mirrors, the light sourcepositioned to emit light onto the pair of movable mirrors; and whereinthe processor system is responsive to non-transitory executable computerinstructions for: determining 3D coordinates of points on the surfacewith the 3D measurement device; selecting a pattern; causing the laserprojector to emit a beam of light and moving the pair of mirrors togenerate the pattern on the surface; and adjusting the pattern based atleast in part on the 3D coordinates.
 2. The device of claim 1, whereinthe 3D measurement devices measures the distance based at least in parton the speed of light.
 3. The device of claim 1, wherein the adjustingof the pattern includes at least one of scaling the pattern and changingthe position of the pattern.
 4. The device of claim 1, furthercomprising a pair of galvanometers are mirror galvanometers.
 5. Thedevice of claim 1, wherein: the housing rotates about an axis; and theprocessor system is further responsive to rotating the housing togenerate the pattern on the surface.
 6. The device of claim 1, furthercomprising an image sensor that records an image of the surface.
 7. Thedevice of claim 6, wherein the processor system is further responsive tocomparing a position of an image of the pattern on the surface in theimage with a predetermined position and determining a projection error.8. The device of claim 7, wherein adjusting of the pattern is furtherbased at least in part on the projection error.
 9. The device of claim8, wherein the adjusting of the pattern is further based at least inpart on an electronic model.
 10. The device of claim 1, wherein theelectronic model includes CAD data.
 11. A method comprising: emitting aplurality of first light beams from a three-dimensional (3D) measurementdevice and receiving the plurality of first light beams with a sensor;determining, with a processor system, 3D coordinates of points on asurface based at least in part on the emitting and receiving of theplurality of first light beams; selecting a pattern; emitting from alaser projector a second light beam; changing the direction of thesecond light beam to form the pattern on the surface; and adjusting thepattern based at least in part on the 3D coordinates.
 12. The method ofclaim 11, wherein the determining of the 3D coordinates is based atleast in part on the speed of light.
 13. The method of claim 11, whereinthe adjusting of the pattern includes changing the position of thepattern.
 14. The method of claim 11, wherein the adjusting of thepattern includes scaling the pattern.
 15. The method of claim 11,wherein the 3D measurement device and laser projector are operablycoupled to a housing.
 16. The method of claim 15, further comprisingrotating the housing about an axis to direct the second light onto thesurface.
 17. The method of claim 11, further comprising: recording animage of the surface with the pattern; comparing a position of thepattern in the image with a predetermined position; and determining aprojection error based at least in part on the comparing of the positionof the patter in the image.
 18. The method of claim 17, wherein theadjusting of the pattern is further based at least in part on theprojection error.
 19. The method of claim 18, wherein the adjusting ofthe pattern is further based at least in part on an electronic model.20. The method of claim 18, wherein the electronic model includes CADdata.